public Shooter() { shooterMotor = new VictorSP(Constants.SHOOTER); shooterMotor2 = new VictorSP(Constants.SHOOTER_2); shooterMotor.setInverted(true); shooterMotor2.setInverted(true); hallEffect = new Counter(Constants.HALL_EFFECT); hallEffect.setDistancePerPulse(1); }
public DriveTrain () { rightMotors = new VictorSP(Constants.DRIVETRAIN_RIGHT); leftMotors = new VictorSP(Constants.DRIVETRAIN_LEFT); rightMotors.setInverted(rightInverted); leftMotors.setInverted(leftInverted); encLeft = new Encoder(Constants.ENCODER_LEFT_1, Constants.ENCODER_LEFT_2); encLeft.setDistancePerPulse(Constants.DRIVEWHEEL_CIRCUMFERENCE / Constants.DRIVE_PULSES_PER_REVOLUTION); encRight = new Encoder(Constants.ENCODER_RIGHT_1, Constants.ENCODER_RIGHT_2); encRight.setDistancePerPulse(Constants.DRIVEWHEEL_CIRCUMFERENCE / Constants.DRIVE_PULSES_PER_REVOLUTION); }
public void robotInit() { frontLeft = new VictorSP(0); backLeft = new VictorSP(1); frontRight = new VictorSP(2); backRight = new VictorSP(3); intakeMotor = new VictorSP(4); compressor = new Compressor(0); intakeSolenoid = new Solenoid(0); driveTrain = new RobotDrive(frontLeft, backLeft, frontRight, backRight); driveTrain.setSafetyEnabled(false); driveTrain.setExpiration(0.1); driveTrain.setSensitivity(0.5); driveTrain.setInvertedMotor(RobotDrive.MotorType.kFrontLeft, false); driveTrain.setInvertedMotor(RobotDrive.MotorType.kRearLeft, false); driveTrain.setInvertedMotor(RobotDrive.MotorType.kFrontRight, false); driveTrain.setInvertedMotor(RobotDrive.MotorType.kRearRight, false); XboxController = new Joystick(2); rightJoystick = new Joystick(1); leftJoystick = new Joystick(0); }
public static void init() { // Drivetrain DRIVETRAIN_ROBOT_DRIVE = new RobotDrive(0, 1); DRIVETRAIN_ENCODER_LEFT = new Encoder(0, 1); DRIVETRAIN_ENCODER_LEFT.setDistancePerPulse(0.0481); DRIVETRAIN_ENCODER_RIGHT = new Encoder(2, 3, true); DRIVETRAIN_ENCODER_RIGHT.setDistancePerPulse(0.0481); // Floor Gear FLOORGEAR_INTAKE = new VictorSP(2); FLOORGEAR_LIFTER = new DoubleSolenoid(0, 1); FLOORGEAR_BLOCKER = new DoubleSolenoid(2, 3); // Climber CLIMBER = new VictorSP(3); // Passive Gear SLOTGEAR_HOLDER = new DoubleSolenoid(4, 5); // Vision VISION_SERVER = CameraServer.getInstance(); VISION_CAMERA = VISION_SERVER.startAutomaticCapture("FRONT", 0); VISION_CAMERA.getProperty("saturation").set(20); VISION_CAMERA.getProperty("gain").set(50); VISION_CAMERA.getProperty("exposure_auto").set(1); VISION_CAMERA.getProperty("brightness").set(50); VISION_CAMERA.getProperty("exposure_absolute").set(1); VISION_CAMERA.getProperty("exposure_auto_priority").set(0); }
public CommandMotor(Subsystem5800 requiredSubsystem, VictorSP motor, double speed) { super(requiredSubsystem); this.motor = motor; this.speed = speed; }
public CommandMotorTime(Subsystem5800 requiredSubsystem, VictorSP motor, double speed, double timeout) { super(requiredSubsystem); this.setTimeout(speed); this.motor = motor; this.speed = speed; }
public static void init() { // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS motorsVictor0 = new VictorSP(0); LiveWindow.addActuator("Motors", "Victor0", (VictorSP) motorsVictor0); motorsVictor1 = new VictorSP(1); LiveWindow.addActuator("Motors", "Victor1", (VictorSP) motorsVictor1); LiveWindow.addActuator("Motors", "TalonSRX", (CANTalon) motorsCANTalon); electricalPowerDistributionPanel1 = new PowerDistributionPanel(0); LiveWindow.addSensor("Electrical", "PowerDistributionPanel 1", electricalPowerDistributionPanel1); sensorsAnalogGyro1 = new AnalogGyro(0); LiveWindow.addSensor("Sensors", "AnalogGyro 1", sensorsAnalogGyro1); sensorsAnalogGyro1.setSensitivity(0.007); // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS }
public ClimberAndIntake(Controls controls) { this.controls = controls; climberIntakeMotor = new VictorSP(Constants.CLIMBER_INTAKE); climberIntakeMotor2 = new VictorSP(Constants.CLIMBER_INTAKE_2); }
public Indexer() { indexerMotorBelt = new VictorSP(Constants.INDEXER_BELT); indexerMotorRoller = new VictorSP(Constants.INDEXER2_ROLLER); }
public DriveTrain() { Robot.logList.add(this); ahrs = new AHRS(RobotMap.Ports.AHRS); left = new VictorSP(RobotMap.Ports.leftDriveMotor); right = new VictorSP(RobotMap.Ports.rightDriveMotor); right.setInverted(true); final double gearRatio = 4/3; final double ticksPerRev = 2048; final double radius = 1.5; final double magic = 1/.737; final double calculated = (radius * 2 * Math.PI) * gearRatio * magic / ticksPerRev; ahrs.reset(); leftEncoder = new Encoder(RobotMap.Ports.leftEncoderOne, RobotMap.Ports.leftEncoderTwo, true, EncodingType.k4X); leftEncoder.setDistancePerPulse(calculated); leftEncoder.setPIDSourceType(PIDSourceType.kRate); rightEncoder = new Encoder(RobotMap.Ports.rightEncoderOne, RobotMap.Ports.rightEncoderTwo, false, EncodingType.k4X); rightEncoder.setDistancePerPulse(calculated); rightEncoder.setPIDSourceType(PIDSourceType.kRate); leftPID = new PIDController( RobotMap.Values.driveTrainP, RobotMap.Values.driveTrainI, RobotMap.Values.driveTrainD, RobotMap.Values.driveTrainF, new RateEncoder(leftEncoder), left); leftPID.setInputRange(-300, 300); leftPID.setOutputRange(-1, 1); rightPID = new PIDController( RobotMap.Values.driveTrainP, RobotMap.Values.driveTrainI, RobotMap.Values.driveTrainD, RobotMap.Values.driveTrainF, new RateEncoder(rightEncoder), right); rightPID.setInputRange(-300, 300); rightPID.setOutputRange(-1, 1); // Let's show everything on the LiveWindow LiveWindow.addActuator("Drive Train", "Left Motor", (VictorSP) left); LiveWindow.addActuator("Drive Train", "Right Motor", (VictorSP) right); LiveWindow.addSensor("Drive Train", "Left Encoder", leftEncoder); LiveWindow.addSensor("Drive Train", "Right Encoder", rightEncoder); LiveWindow.addSensor("Drive Train", "Gyro", ahrs); LiveWindow.addActuator("Drive Train", "PID", leftPID); }
public Drive() { // Instantiate VictorSPs leftFront = new VictorSP(RobotMap.DriveMap.PWM_LEFT_FRONT); leftBack = new VictorSP(RobotMap.DriveMap.PWM_LEFT_BACK); rightFront = new VictorSP(RobotMap.DriveMap.PWM_RIGHT_FRONT); rightBack = new VictorSP(RobotMap.DriveMap.PWM_RIGHT_BACK); // Create list of motors leftMotors = new ArrayList<SpeedController>(); leftMotors.add(leftFront); leftMotors.add(leftBack); rightMotors = new ArrayList<SpeedController>(); rightMotors.add(rightFront); rightMotors.add(rightBack); // Instantiate Encoders leftEncoder = new Encoder(RobotMap.DriveMap.DIO_ENCODER_LEFT_A, RobotMap.DriveMap.DIO_ENCODER_LEFT_B); rightEncoder = new Encoder(RobotMap.DriveMap.DIO_ENCODER_RIGHT_A, RobotMap.DriveMap.DIO_ENCODER_RIGHT_B); // Invert VictorSPs leftFront.setInverted(RobotMap.DriveMap.INV_LEFT_FRONT); leftBack.setInverted(RobotMap.DriveMap.INV_LEFT_BACK); rightFront.setInverted(RobotMap.DriveMap.INV_RIGHT_FRONT); rightBack.setInverted(RobotMap.DriveMap.INV_RIGHT_BACK); // Invert Encoders // leftEncoder.setReverseDirection(RobotMap.DriveMap.INV_ENCODER_LEFT); // rightEncoder.setReverseDirection(RobotMap.DriveMap.INV_ENCODER_RIGHT); // Set distance per pulse leftEncoder.setDistancePerPulse(RobotMap.DriveMap.DISTANCE_PER_PULSE); rightEncoder.setDistancePerPulse(RobotMap.DriveMap.DISTANCE_PER_PULSE); // Instantiate solenoid solenoid = new DoubleSolenoid(RobotMap.DriveMap.SOL_FORWARD, RobotMap.DriveMap.SOL_REVERSE); // Instantiate drivesides leftSide = new DriveSide(leftMotors, leftEncoder); rightSide = new DriveSide(rightMotors, rightEncoder); }
public SpeedControllerSubsystem(SpeedControllerSubsystemType type, final int channel) { switch(type) { case CAN_JAGUAR: this._controller = new CANJaguar(channel); break; case CAN_TALON: this._controller = new CANTalon(channel); break; case JAGUAR: this._controller = new Jaguar(channel); break; case SD540: this._controller = new SD540(channel); break; case SPARK: this._controller = new Spark(channel); break; case TALON: this._controller = new Talon(channel); break; case TALON_SRX: this._controller = new TalonSRX(channel); break; case VICTOR: this._controller = new Victor(channel); break; case VICTOR_SP: this._controller = new VictorSP(channel); break; default: break; } }
public static void init() { // Drivetrain DRIVETRAIN_ROBOT_DRIVE = new RobotDrive(0, 1); DRIVETRAIN_ENCODER_LEFT = new Encoder(0, 1); DRIVETRAIN_ENCODER_LEFT.setDistancePerPulse(0.0481); DRIVETRAIN_ENCODER_RIGHT = new Encoder(2, 3, true); DRIVETRAIN_ENCODER_RIGHT.setDistancePerPulse(0.0481); // Floor Gear FLOORGEAR_INTAKE = new VictorSP(2); FLOORGEAR_LIFTER = new DoubleSolenoid(0, 1); FLOORGEAR_BLOCKER = new DoubleSolenoid(2, 3); // Climber CLIMBER = new VictorSP(3); // Passive Gear SLOTGEAR_HOLDER = new DoubleSolenoid(4, 5); // Storage STORAGE_INTAKE = new VictorSP(4); STORAGE_AGITATOR = new VictorSP(5); // Shooter SHOOTER_CONVEYOR = new VictorSP(6); SHOOTER_WHEELS = new VictorSP(7); SHOOTER_ENCODER = new Encoder(4, 5); SHOOTER_ENCODER.setPIDSourceType(PIDSourceType.kRate); SHOOTER_PID = new PIDController(1, 0, 0, SHOOTER_ENCODER, SHOOTER_WHEELS); // Vision VISION_SERVER = CameraServer.getInstance(); VISION_CAMERA = VISION_SERVER.startAutomaticCapture("FRONT", 0); VISION_CAMERA.setResolution(kVISION_WIDTH, kVISION_HEIGHT); kVISION_CENTER_X = kVISION_WIDTH / 2 - 0.5; kVISION_FOCAL_LENGTH = kVISION_WIDTH / (2 * Math.tan(Math.toRadians(kVISION_FOV / 2))); VISION_CAMERA.getProperty("saturation").set(20); VISION_CAMERA.getProperty("gain").set(0); VISION_CAMERA.getProperty("exposure_auto").set(1); VISION_CAMERA.getProperty("brightness").set(50); VISION_CAMERA.getProperty("exposure_absolute").set(1); VISION_CAMERA.getProperty("exposure_auto_priority").set(0); VISION_PIPELINE = new GripPipeline(); VISION_SINK = VISION_SERVER.getVideo(); // Network NETWORKTABLE = NetworkTable.getTable("Network Table"); }
public TurtleVictorSP(int port, boolean isReversed) { v = new VictorSP(port); this.isReversed = isReversed; }
public TurtleVictorSP(int port) { victor = new VictorSP(port); }
/** * Create a motor driven by a VEX Robotics Victor SP speed controller on the specified channel, with a custom speed * limiting function. * * @param channel the channel the controller is connected to * @param speedLimiter function that will be used to limit the speed (input voltage); may not be null * @return a motor on the specified channel */ public static Motor victorSP(int channel, DoubleToDoubleFunction speedLimiter) { return new HardwareMotor(new VictorSP(channel), speedLimiter); }
